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Journal of Automation and Information Sciences

Published 12 issues per year

ISSN Print: 1064-2315

ISSN Online: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

Indexed in

Coordination Approach to the Organization of Motion of Manipulation Robots

Volume 29, Issue 2-3, 1997, pp. 22-29
DOI: 10.1615/JAutomatInfScien.v29.i2-3.50
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ABSTRACT

A hierarchical organization of control of motion of a manipulator is proposed, where the coordination (the realization of motion with reduction of redundancies) is carried out at each control level - the strategical, tactical, and executive. Mathematical methods of coordination for solution of problems of kinematics, trajectory planning, and formulation of dynamics equations are proposed based on the optimization methods and numerical-analytic computations.

CITED BY
  1. I.B. Karymsakova, N.F. Denissova, U.V. Krak, Development of a robotic plasma spraying system for biocompatible coatings, Artificial Intelligence, 24, 1-2, 2019. Crossref

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